Mukund Pandiri / Mbed 2 deprecated segway-balancing

self-balancing-robot

Dependencies:   mbed mbed-rtos Motor

main.cpp@15:f0f19572c4a5, 2020-04-23 (annotated)

Committer:
pandirimukund
Date:
Thu Apr 23 15:12:58 2020 +0000
Revision:
15:f0f19572c4a5
Parent:
14:f9c2cf6643cf
Child:
16:f9e3df933304
got the angle update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 1:491820ee784d 1 #include "mbed.h"
mbed_official 11:0309bef74ba8 2 #include "rtos.h"
pandirimukund 13:8d8ac3189984 3 #include "LSM9DS1.h"
pandirimukund 12:1fc4b3d94397 4
pandirimukund 12:1fc4b3d94397 5
pandirimukund 12:1fc4b3d94397 6 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 7 ///////////////////////////// Variable Initialization//////////////////////////
pandirimukund 12:1fc4b3d94397 8 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 9 Ticker bluetooth;
pandirimukund 12:1fc4b3d94397 10 Serial pc(USBTX, USBRX);
pandirimukund 12:1fc4b3d94397 11
pandirimukund 13:8d8ac3189984 12
pandirimukund 12:1fc4b3d94397 13 Mutex parametersmutex;
pandirimukund 15:f0f19572c4a5 14 Mutex angleMutex;
pandirimukund 12:1fc4b3d94397 15 Serial blue(p28, p27);
pandirimukund 12:1fc4b3d94397 16
pandirimukund 13:8d8ac3189984 17 LSM9DS1 imu(p9, p10, 0xD6, 0x3C);
pandirimukund 12:1fc4b3d94397 18
pandirimukund 12:1fc4b3d94397 19
pandirimukund 12:1fc4b3d94397 20 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 21 ///////////////////////////// Control System Variables/////////////////////////
pandirimukund 12:1fc4b3d94397 22 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 23 float rp = 50;
pandirimukund 12:1fc4b3d94397 24 float rd = 51;
pandirimukund 12:1fc4b3d94397 25 float ri = 50;
pandirimukund 12:1fc4b3d94397 26 float desired_angle = 0;
pandirimukund 12:1fc4b3d94397 27
pandirimukund 12:1fc4b3d94397 28 float speed = 0;
pandirimukund 12:1fc4b3d94397 29
pandirimukund 12:1fc4b3d94397 30 float pAngle = 0;
pandirimukund 12:1fc4b3d94397 31 float dAngle = 0;
pandirimukund 12:1fc4b3d94397 32 float iAngle = 0;
pandirimukund 12:1fc4b3d94397 33
pandirimukund 12:1fc4b3d94397 34 int time_segment = 5; //Update the speed every 5 milliseconds
pandirimukund 12:1fc4b3d94397 35
pandirimukund 12:1fc4b3d94397 36
pandirimukund 12:1fc4b3d94397 37
pandirimukund 12:1fc4b3d94397 38 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 39 ///////////////////////////// Bluetooth Section ///////////////////////////////
pandirimukund 12:1fc4b3d94397 40 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 41 void bluetooth_update() {
pandirimukund 12:1fc4b3d94397 42 char bnum = 0;
pandirimukund 12:1fc4b3d94397 43 char bhit = 0;
pandirimukund 12:1fc4b3d94397 44 while (1) {
pandirimukund 12:1fc4b3d94397 45 if (blue.getc() == '!') {
pandirimukund 12:1fc4b3d94397 46 if (blue.getc() == 'B') { //button data packet
pandirimukund 12:1fc4b3d94397 47 bnum = blue.getc(); //button number
pandirimukund 12:1fc4b3d94397 48 //pc.printf("%d",bnum);
pandirimukund 12:1fc4b3d94397 49 bhit = blue.getc(); //1=hit, 0=release
pandirimukund 12:1fc4b3d94397 50 parametersmutex.lock();
pandirimukund 12:1fc4b3d94397 51 if (blue.getc() == char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
pandirimukund 12:1fc4b3d94397 52 switch (bnum) {
pandirimukund 12:1fc4b3d94397 53 case '1': //number button 1
pandirimukund 12:1fc4b3d94397 54 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 55 rd += 1;
pandirimukund 12:1fc4b3d94397 56 } else {
pandirimukund 12:1fc4b3d94397 57 //add release code here
pandirimukund 12:1fc4b3d94397 58 }
pandirimukund 12:1fc4b3d94397 59 break;
pandirimukund 12:1fc4b3d94397 60 case '2': //number button 2
pandirimukund 12:1fc4b3d94397 61 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 62 ri += 1;
pandirimukund 12:1fc4b3d94397 63 } else {
pandirimukund 12:1fc4b3d94397 64 //add release code here
pandirimukund 12:1fc4b3d94397 65 }
pandirimukund 12:1fc4b3d94397 66 break;
pandirimukund 12:1fc4b3d94397 67 case '3': //number button 3
pandirimukund 12:1fc4b3d94397 68 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 69 rd -= 1;
pandirimukund 12:1fc4b3d94397 70 } else {
pandirimukund 12:1fc4b3d94397 71 //add release code here
pandirimukund 12:1fc4b3d94397 72 }
pandirimukund 12:1fc4b3d94397 73 break;
pandirimukund 12:1fc4b3d94397 74 case '4': //number button 4
pandirimukund 12:1fc4b3d94397 75 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 76 ri -= 1;
pandirimukund 12:1fc4b3d94397 77 } else {
pandirimukund 12:1fc4b3d94397 78 //add release code here
pandirimukund 12:1fc4b3d94397 79 }
pandirimukund 12:1fc4b3d94397 80 break;
pandirimukund 12:1fc4b3d94397 81 case '5': //button 5 up arrow
pandirimukund 12:1fc4b3d94397 82 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 83 rp += 1;
pandirimukund 12:1fc4b3d94397 84 } else {
pandirimukund 12:1fc4b3d94397 85 //add release code here
pandirimukund 12:1fc4b3d94397 86 }
pandirimukund 12:1fc4b3d94397 87 break;
pandirimukund 12:1fc4b3d94397 88 case '6': //button 6 down arrow
pandirimukund 12:1fc4b3d94397 89 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 90 rp -= 1;
pandirimukund 12:1fc4b3d94397 91 } else {
pandirimukund 12:1fc4b3d94397 92 //add release code here
pandirimukund 12:1fc4b3d94397 93 }
pandirimukund 12:1fc4b3d94397 94 break;
pandirimukund 12:1fc4b3d94397 95 case '7': //button 7 left arrow
pandirimukund 12:1fc4b3d94397 96 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 97 desired_angle -= 1;
pandirimukund 12:1fc4b3d94397 98 } else {
pandirimukund 12:1fc4b3d94397 99 //add release code here
pandirimukund 12:1fc4b3d94397 100 }
pandirimukund 12:1fc4b3d94397 101 break;
pandirimukund 12:1fc4b3d94397 102 case '8': //button 8 right arrow
pandirimukund 12:1fc4b3d94397 103 if (bhit == '1') {
pandirimukund 12:1fc4b3d94397 104 desired_angle += 1;
pandirimukund 12:1fc4b3d94397 105 } else {
pandirimukund 12:1fc4b3d94397 106 //add release code here
pandirimukund 12:1fc4b3d94397 107 }
pandirimukund 12:1fc4b3d94397 108 break;
pandirimukund 12:1fc4b3d94397 109 default:
pandirimukund 12:1fc4b3d94397 110 break;
pandirimukund 12:1fc4b3d94397 111 }
pandirimukund 12:1fc4b3d94397 112 }
pandirimukund 12:1fc4b3d94397 113 parametersmutex.unlock();
pandirimukund 12:1fc4b3d94397 114 }
pandirimukund 12:1fc4b3d94397 115 }
pandirimukund 12:1fc4b3d94397 116 Thread::wait(100);
emilmont 1:491820ee784d 117 }
emilmont 1:491820ee784d 118 }
pandirimukund 12:1fc4b3d94397 119
pandirimukund 12:1fc4b3d94397 120
pandirimukund 12:1fc4b3d94397 121 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 122 ///////////////////////////// Control System Updates///////////////////////////
pandirimukund 12:1fc4b3d94397 123 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 124 //make the calls to IMU here and this should be another thread
pandirimukund 12:1fc4b3d94397 125 void update_system() {
pandirimukund 15:f0f19572c4a5 126 get_current_angle();
pandirimukund 15:f0f19572c4a5 127 Thread::wait(10);
pandirimukund 12:1fc4b3d94397 128 }
pandirimukund 12:1fc4b3d94397 129
pandirimukund 12:1fc4b3d94397 130
pandirimukund 12:1fc4b3d94397 131 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 132 ///////////////////////////// IMU STUFF////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 133 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 134 void calibrate_imu() {
pandirimukund 12:1fc4b3d94397 135 return;
pandirimukund 12:1fc4b3d94397 136 }
pandirimukund 12:1fc4b3d94397 137
pandirimukund 12:1fc4b3d94397 138 void get_current_angle() {
pandirimukund 13:8d8ac3189984 139 // return;
pandirimukund 13:8d8ac3189984 140 imu.readGyro();
pandirimukund 15:f0f19572c4a5 141 int gyro = -imu.gy * .01;
pandirimukund 15:f0f19572c4a5 142 angleMutex.lock();
pandirimukund 15:f0f19572c4a5 143 pAngle += gyro;
pandirimukund 15:f0f19572c4a5 144 angleMutex.unlock();
pandirimukund 12:1fc4b3d94397 145 }
pandirimukund 12:1fc4b3d94397 146
pandirimukund 12:1fc4b3d94397 147
pandirimukund 12:1fc4b3d94397 148
pandirimukund 12:1fc4b3d94397 149
pandirimukund 12:1fc4b3d94397 150 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 151 ///////////////////////////// Running Main Function////////////////////////////
pandirimukund 12:1fc4b3d94397 152 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 12:1fc4b3d94397 153
emilmont 1:491820ee784d 154 int main() {
pandirimukund 12:1fc4b3d94397 155 pc.printf("this is running");
pandirimukund 12:1fc4b3d94397 156 Thread bluetooth;
pandirimukund 12:1fc4b3d94397 157 Thread system_update;
emilmont 1:491820ee784d 158
pandirimukund 14:f9c2cf6643cf 159 imu.begin();
pandirimukund 12:1fc4b3d94397 160
pandirimukund 12:1fc4b3d94397 161 bluetooth.start(bluetooth_update);
pandirimukund 12:1fc4b3d94397 162 system_update.start(update_system);
pandirimukund 12:1fc4b3d94397 163
pandirimukund 12:1fc4b3d94397 164 //bluetooth.attach(&bluetooth_update, 0.1);
pandirimukund 12:1fc4b3d94397 165 while (1) {
pandirimukund 12:1fc4b3d94397 166 //bluetooth_update();
pandirimukund 12:1fc4b3d94397 167 parametersmutex.lock();
pandirimukund 12:1fc4b3d94397 168 pc.printf("rp: %f, rd: %f, ri: %f, desired_angle: %f\n", rp, rd, ri, desired_angle);
pandirimukund 12:1fc4b3d94397 169 parametersmutex.unlock();
pandirimukund 12:1fc4b3d94397 170
pandirimukund 15:f0f19572c4a5 171 angleMutex.lock();
pandirimukund 15:f0f19572c4a5 172 pc.printf("pAngle: %f", pAngle);
pandirimukund 15:f0f19572c4a5 173 angleMutex.unlock();
pandirimukund 15:f0f19572c4a5 174
pandirimukund 15:f0f19572c4a5 175
pandirimukund 12:1fc4b3d94397 176 get_current_angle();
pandirimukund 14:f9c2cf6643cf 177
pandirimukund 12:1fc4b3d94397 178
pandirimukund 12:1fc4b3d94397 179 Thread::wait(100);
emilmont 1:491820ee784d 180 }
emilmont 1:491820ee784d 181 }
pandirimukund 12:1fc4b3d94397 182